Grasp Stability Analysis in Dual-Space and Optimal Grasp Planning for Two-Fingered Robots in 2-D

Autor:	Myeong-Eon Jang, Jihong Lee, Myung-Ho Kook
Rok vydání:	2006
Předmět:	Computer Science::Robotics Mathematical optimization Line segment Intersection Dual space GRASP Stability (learning theory) Robot Point (geometry) Object (computer science) Algorithm Mathematics
Zdroj:	Journal of Control, Automation and Systems Engineering. 12:1102-1110
ISSN:	1225-9845
DOI:	10.5302/j.icros.2006.12.11.1102
Popis:	This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::2c9134b8b1357a7743faae2eca39d9fa https://doi.org/10.5302/j.icros.2006.12.11.1102 Zobrazit plný text záznamu